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        <p>作为一个头(ku)秃(bi)的开发者，查阅各种文档是家常便饭，但由于中国特色在查阅一些文档时总是加载中。而且有时外场调试还不一定有网，因而将文档本地化是相当有必要的。本文介绍了一种将文档编译为静态网页并本地查阅的方法。</p>
<p>以Pixhawk飞控相关文档为例。APM的官方wiki是用Sphinx进行编译，支持的格式也比较丰富，编译为静态html后可以方便的查找和跳转。而PX4相关的文档主要是用gitbook进行编译管理，相比与Sphinx增加了多语言的切换，但作为静态网页挂载时无法直接跳转。因而考虑使用Nginx作为web服务器挂载网页gitbook类的文档。</p>
<p>建议以下的步骤都在Linux系统下操作，虚拟机或WSL。Win也可以，但会有这样那样的奇怪问题。</p>
<a id="more"></a>

<h2 id="APM文档本地化"><a href="#APM文档本地化" class="headerlink" title="APM文档本地化"></a>APM文档本地化</h2><p>APM文档的官方repo为<a target="_blank" rel="noopener" href="https://github.com/ArduPilot/ardupilot_wiki%EF%BC%8C%E4%B8%8B%E8%BD%BD%E5%AE%8C%E6%88%90%E5%90%8E%E6%90%AD%E5%BB%BA%E6%96%87%E6%A1%A3%E7%9A%84%E7%BC%96%E8%AF%91%E7%8E%AF%E5%A2%83%EF%BC%8C%E5%AE%98%E6%96%B9%E8%AF%B4%E6%98%8E%E5%9C%A8[%E8%BF%99%E9%87%8C](https://ardupilot.org/dev/docs/common-wiki-editing-infra-overview.html)%E3%80%82%E5%A4%A7%E4%BD%93%E6%98%AF%E5%AE%89%E8%A3%85%E4%BA%86sphinx%E7%9A%841.8.3%E7%89%88%E6%9C%AC%E7%84%B6%E5%90%8E%E8%A3%85%E4%BA%86%E4%B8%80%E4%BA%9B%E6%8F%92%E4%BB%B6%EF%BC%8C%E5%AE%98%E6%96%B9%E6%8F%90%E4%BE%9B%E4%BA%86Docker%E5%92%8CVagrant%E7%9A%84%E7%9B%B8%E5%85%B3%E8%84%9A%E6%9C%AC%E3%80%82WSL%E6%88%96%E8%80%85%E8%99%9A%E6%8B%9F%E6%9C%BA%E8%BF%90%E8%A1%8C%60Sphinxsetup.sh%60%EF%BC%8C%E7%AD%89%E5%BE%85%E7%8E%AF%E5%A2%83%E8%AE%BE%E7%BD%AE%E5%AE%8C%E6%88%90%E5%90%8E%E5%9C%A8%E6%A0%B9%E7%9B%AE%E5%BD%95%E4%B8%8B%60make%60%E5%8D%B3%E5%8F%AF%E4%BB%A5%E7%BC%96%E8%AF%91%E7%9B%B8%E5%85%B3%E7%9A%84%E5%85%A8%E9%83%A8%E6%96%87%E6%A1%A3%E3%80%82">https://github.com/ArduPilot/ardupilot_wiki，下载完成后搭建文档的编译环境，官方说明在[这里](https://ardupilot.org/dev/docs/common-wiki-editing-infra-overview.html)。大体是安装了sphinx的1.8.3版本然后装了一些插件，官方提供了Docker和Vagrant的相关脚本。WSL或者虚拟机运行`Sphinxsetup.sh`，等待环境设置完成后在根目录下`make`即可以编译相关的全部文档。</a></p>
<figure class="highlight plain"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br></pre></td><td class="code"><pre><span class="line"># 相关指令</span><br><span class="line">git clone https:&#x2F;&#x2F;github.com&#x2F;ArduPilot&#x2F;ardupilot_wiki.git</span><br><span class="line">cd ardupilot_wiki</span><br><span class="line">.&#x2F;Sphinxsetup.sh</span><br><span class="line">make</span><br></pre></td></tr></table></figure>
<p>编译完成截图</p>
<p><img src="https://hexo-blog-bs.oss-cn-beijing.aliyuncs.com/_blog-img/2020-04%E6%96%87%E6%A1%A3%E7%9B%B8%E5%85%B3/image-20200412175203199.png"></p>
<p>之前的版本目录会抽风来着，不过问题不大。新版本好像修复了这个问题</p>
<p><img src="https://hexo-blog-bs.oss-cn-beijing.aliyuncs.com/_blog-img/2020-04%E6%96%87%E6%A1%A3%E7%9B%B8%E5%85%B3/image-20200412180356005.png"></p>
<p>可以将主页的相关路径改为存放相关载具的路径，这样打开主页即可跳转相关的文档</p>
<p>打开<code>ardupilot\index.html</code>，定位到177行左右，将<code>https://ardupilot.org</code>替换为存放html主页的文件夹，比如<code>file:///F:/Progroming/_Doc_Src/ardupilot_wiki/_build</code></p>
<p><img src="https://hexo-blog-bs.oss-cn-beijing.aliyuncs.com/_blog-img/2020-04%E6%96%87%E6%A1%A3%E7%9B%B8%E5%85%B3/image-20200412180434105.png"></p>
<p>之后编写一个python小脚本就可以方便的管理文档啦。</p>
<p><img src="https://hexo-blog-bs.oss-cn-beijing.aliyuncs.com/_blog-img/2020-04%E6%96%87%E6%A1%A3%E7%9B%B8%E5%85%B3/image-20200412185144750.png"></p>
<h2 id="PX4文档本地化"><a href="#PX4文档本地化" class="headerlink" title="PX4文档本地化"></a>PX4文档本地化</h2><p>PX4的文档比APM更多更杂，常用的是PX4的开发者手册和Mavlink的开发者手册，相关的repo链接如下</p>
<p>分别为Mavlink的开发者手册，px4的开发手册和用户手册，qgc的开发手册</p>
<figure class="highlight plain"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br></pre></td><td class="code"><pre><span class="line">https:&#x2F;&#x2F;github.com&#x2F;mavlink&#x2F;mavlink-devguide.git</span><br><span class="line">https:&#x2F;&#x2F;github.com&#x2F;PX4&#x2F;dev.px4.io.git</span><br><span class="line">https:&#x2F;&#x2F;github.com&#x2F;PX4&#x2F;px4_user_guide.git</span><br><span class="line">https:&#x2F;&#x2F;github.com&#x2F;mavlink&#x2F;qgc-dev-guide.git</span><br></pre></td></tr></table></figure>
<p>gitbook编译文档比之前的方便，不过编译时各种插件还是有些bug（win上），linux上可以成功编译，安装好gitbook之后进行编译，生成<code>_book</code>目录以及相关的语言。</p>
<figure class="highlight plain"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br></pre></td><td class="code"><pre><span class="line">cd &lt;dir of docs&gt;</span><br><span class="line">gitbook init</span><br><span class="line">gitbook build</span><br></pre></td></tr></table></figure>
<p>不过缺点是无法直接单击跳转，考虑用Nginx辅助，安装Nginx后修改配置文件</p>
<p>可以使用<code>nginx -t</code>命令查看<code>nginx.conf</code>的具体路径</p>
<p>在配置文件中的http中添加下面的配置，可以添加多个，修改玩配置文件后重启nginx</p>
<figure class="highlight plain"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br></pre></td><td class="code"><pre><span class="line">server &#123;</span><br><span class="line">	listen       &lt;port_num&gt;;</span><br><span class="line">	location &#x2F; &#123;</span><br><span class="line">		root &lt;path of dir&gt;;</span><br><span class="line">		index  index.html index.htm;</span><br><span class="line">	&#125;</span><br><span class="line">&#125;</span><br></pre></td></tr></table></figure>
<p>然后就可以通过访问<code>127.0.0.1:&lt;port_num&gt;</code>愉快的使用本地文档啦</p>
<p><img src="https://hexo-blog-bs.oss-cn-beijing.aliyuncs.com/_blog-img/2020-04%E6%96%87%E6%A1%A3%E7%9B%B8%E5%85%B3/image-20200412182822115.png"></p>
<h2 id="伸手党的福利"><a href="#伸手党的福利" class="headerlink" title="伸手党的福利"></a>伸手党的福利</h2><p>当然，懒得走上面的编译流程可以直接下载编译好的文档，因为时间问题，没有把所有的文档都编译为最新版本，有需自取。后缀为文档的更新日期和git的commit hash，PX4文档的hash实在找不到了，只记得对应的版本了。</p>
<p><img src="https://hexo-blog-bs.oss-cn-beijing.aliyuncs.com/_blog-img/2020-04%E6%96%87%E6%A1%A3%E7%9B%B8%E5%85%B3/image-20200412184540335.png"></p>
<p>关注公众号，并回复”无人机文档”下载相关文件</p>
<p><img src="https://hexo-blog-bs.oss-cn-beijing.aliyuncs.com/_blog-img/2020-04%E6%96%87%E6%A1%A3%E7%9B%B8%E5%85%B3/qrcode.png"></p>

      
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        <p><span>文章作者:</span><a href="/" title="回到主页">BrightSoul</a></p>
        <p><span>发布时间:</span>2020-04-12, 00:00:00</p>
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